Dynamic coverage control for mobile robot network with limited and nonidentical sensory ranges

Wei Tao Li, Yen Chen Liu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Citations (Scopus)

Abstract

The coverage control problem for multiple mobile robot system with limited and dissimilar sensing abilities is addressed in this article. There exist missing areas while taking the previously developed r-limited Voronoi partitions due to distinct sensing ranges. Thus, a modified partitioning approach is proposed to enhance coverage performance. Furthermore, the dynamic coverage controllers are developed with time-varying density function so that the system is more applicable to various tasks such as target tracking or information decays. In addition to theoretical analysis, numerical examples and experiments with four mobile robots are conducted to verify stability and coverage performance of mobile robot network utilizing the proposed coverage partition algorithm.

Original languageEnglish
Title of host publicationICRA 2017 - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages775-780
Number of pages6
ISBN (Electronic)9781509046331
DOIs
Publication statusPublished - 2017 Jul 21
Event2017 IEEE International Conference on Robotics and Automation, ICRA 2017 - Singapore, Singapore
Duration: 2017 May 292017 Jun 3

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2017 IEEE International Conference on Robotics and Automation, ICRA 2017
CountrySingapore
CitySingapore
Period17-05-2917-06-03

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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